CN102155943B - Fireman site navigation device - Google Patents
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Abstract
The invention provides a fireman site navigation device used for performing three-dimensional positioning and assisting firemen in quickly implementing fire extinguishing rescue on a fire site. The device mainly comprises a few core modules, namely a central control module, a three-dimensional positioning module, an external storage module, a communication module, an input/output module and a protective shell; and the three-dimensional positions of the firemen on the fire site are determined by collaboration of the core modules and notified to the firemen in a clear intuitive voice or image mode, meanwhile, the positions of various fire fighting facilities are indicated to the firemen, and navigation service is provided for the firemen. Through the device, the functions of eyes and ears of each fireman on the fire site can be similarly enhanced; and meanwhile, the device is combined with an assorted command system, so that the commander can command the fire rescue more clearly and intuitively, the fighting capacity and the protecting capacity of the firemen in the fire are enhanced to certain degree, and great assistance is provided for improving the fire extinguishing rescue capacity of the fire fighting unit.
Description
Technical field
The present invention relates to a kind of scene of fire that is used for, can carry out three-dimensional localization, and assist the fireman to implement the fireman scene guider of fire fighting and rescue action rapidly.
Background technology
Having is that floods and fires have no mercy, in case breaking out of fire will cause serious threat to people's life and property.Can control the condition of a fire more soon, just can reduce to big more degree the loss of personal property.And; Under current situation of building a harmonious society; Fire attack is carried out fire fighting, the people is rescued in the disaster relief earlier; Material wealth loss can be reproduced, and it is more outstanding important that the irremediable principle in mind of casualties seems, people-oriented, the action theory on surviving also should be brought up to a more significant status.But fire brigade also exists many problems for the equipment that the fireman is equipped with at present, is difficult to satisfy the relief demand of modern disaster.Present fireman's outfit can't ensure well that the fireman gets into the scene of a fire and correctly implements fire fighting and rescue.
On the other hand; Various buildings build the completion or the finishing finish; The fire fighting device distribution situation of relevant the building of carrying out providing when fire-fighting is checked and accepted, data messages such as building structure are not used to help fireman's disaster relief of putting out a fire rapidly well when this building breaking out of fire.
Summary of the invention
To the problems referred to above; After checking and accepting material (plane structure chart, the fire fighting device deployment diagram that comprise building) modeling, the fire-fighting that each building of the on-the-spot guider of the fireman who the present invention relates to basis capable of using is provided is kept at the building bearing data in the database; Combine the three-dimensional localization module in the on-the-spot guider of fireman again; Calculate fireman's relative position under construction; Identified fireman self position under construction for the fireman draws out simultaneously, and the floor map of the position of fire fighting device, passway for escaping, and this floor map has been presented on the display screen of on-the-spot guider; For the fireman navigates, so that assist the fireman to implement the fire fighting and rescue action rapidly.This device can also provide sound navigation for the fireman; The fireman can lock a target location in the floor map of display screen, device can send different prompting sound of the time interval according to the distance between fireman and the target location; When fireman's position more near the target location; Prompting sound is more rapid (interval between the prompting sound is short more) just, otherwise then prompting sound relaxes (interval between the prompting sound is long more) more.
The technical scheme that the present invention takes is: the on-the-spot guider of a kind of fireman; It comprises at least: a central control module; This module has comprised microprocessor, internal memory (RAM), is used for the building structure bearing data that obtains from the fire architecture model database, building fire protection facility bearing data are depicted as floor map; Simultaneously; The fireman's bearing data that obtains according to the three-dimensional localization module in floor map, and is presented at fireman's station location marker on the display screen of device with this floor map;
A three-dimensional localization module; This module is used for the fireman is carried out three-dimensional localization; Promptly obtain longitude, latitude and the height of the current present position of fireman, and fireman's three dimensional local information is transferred to central controller handle, as the foundation of further fireman being done navigation;
An outer memory module, this module are used for storing building structure bearing data, building fire protection facility bearing data, the fireman orientation change histories data of obtaining from the fire architecture model database;
A communication module, this module is carried out data communication through other computer equipment outside the wireless network and the scene of a fire, and the location of these computer equipments comprises floor manager car, fire department data center;
An input/output module; This module comprises a display screen (common display screen or touch screen), button, is used for carrying out alternately floor map being shown to the fireman with the fireman; Receive the target location of fireman's input, for the fireman provides navigation Service intuitively;
An antenna is used for the wireless signal transfer that radio transmitting and receiving chip sends is gone out, and perhaps imports the wireless signal that receives into;
A hummer is used to send prompting sound, representes the distance of fireman and target location distance through prompting sound sounding length at interval; The fireman is more near the target location, and then prompting sound is rapid more, and promptly the prompting sound sounding is short more at interval; Otherwise; The fireman is far away more from the target location, and then prompting sound relaxes more, and promptly the prompting sound sounding is long more at interval;
A voice module is used for playing fireman's the real-time position information and the fire fighting device information of fireman's periphery;
An internal power supply, being used for when device is in closed condition is the RAM storer power supply in the device, to prevent loss of data, can guarantee when more changing planes external power, not interrupt Continuous Observation like this;
A machine external power is used to whole device power supply, will charge to internal power supply automatically when using the machine external power;
A protecting sheathing is used for the inner components and parts of protective device, with the normal use of assurance device in the scene of fire.
Before the fireman gets into the scene of fire; Computer equipment through fire department data center or floor manager car is with building structure bearing data, the building fire protection facility bearing data of the buildings of breaking out of fire; From the database of data center, read out, send to the on-the-spot guider of fireman.The on-the-spot guider of fireman is through communication module, receiving data information, and the data message that receives is saved in the outer memory module of device.Central control module is drawn out the plane structure chart of this each layer of building according to these data, has comprised the position of fire fighting device, a series of information in position of passway for escaping among the figure, and is kept at these structural drawing in the outer memory module of device.The fireman's that gets access to according to the three-dimensional localization module of central control module current three-dimensional information (longitude, latitude, highly) then; Convert fireman's vertical height of living in into number of floor levels; From the outer memory module of device, access the plane structure chart of this floor,, in the plane structure chart of this floor, indicate fireman's current location again according to the residing latitude and longitude information of fireman; And will scheme input/output module (being presented on the display screen) through device, represent to the fireman.Then, with fireman's change in location, this device constantly repaints the plane structure chart that has indicated the fireman position, and outputs on the display screen.Fire fighting device position on the floor level structural drawing and passway for escaping position, perhaps the position in certain room all can be used as target and is selected locking.The fireman can pass through touch screen or keyboard, selects a position on the plane structure chart to lock as target, in case locked target, the hummer of device will send prompting sound.Represent the distance of fireman and target location distance through prompting sound sounding length at interval, the fireman is more near the target location, and then prompting sound is rapid more; Be that the prompting sound sounding is short more at interval, otherwise the fireman is far away more from the target location; Then prompting sound relaxes more, and promptly the prompting sound sounding is long more at interval.The fireman arrives after the target location of locking, can cancel locking and buzzing.
Description of drawings
Fig. 1 is the hardware structure diagram of the on-the-spot guider of fireman of expression embodiments of the invention one;
Fig. 2 is the hardware structure diagram of the on-the-spot guider of fireman of expression embodiments of the invention two;
Fig. 3 is the hardware structure diagram of the on-the-spot guider of fireman of expression embodiments of the invention three.
Embodiment
For making characteristic of the present invention and advantage obtain clearer understanding,, elaborate as follows below in conjunction with accompanying drawing:
The on-the-spot guider embodiment one of fireman
As shown in Figure 1, the hardware structure diagram of the embodiment of the invention one has been described.In Fig. 1, the on-the-spot guider hardware of fireman comprises central control module 1, three-dimensional localization module 2, outer memory module 3, communication module 4, input/output module 5, antenna 6, hummer 7, voice module 8, internal power supply 9, machine external power 10 and protecting sheathing 11.
Wherein, Central control module 1 has comprised microprocessor 1A and internal memory (RAM) 1B; Central control module 1 is the nucleus module of device; Its major function be according to after each fire-fighting of being provided of building being checked and accepted material (plane structure chart, the fire fighting device deployment diagram that comprise building) modeling, be kept at the plane structure chart that data message in the fire department data central database is drawn each floor in the building; Azimuth information specifically that each position in the plane structure chart of drawing out is all corresponding (comprises through, latitude and height; Be associated with number of floor levels highly again), and the position among the figure all can be selected locking, to realize that the fireman is carried out target navigation; Then; Central control module 1 is according to the fireman's who is obtained through three-dimensional localization module 2 real-time azimuth information (comprising longitude, latitude and height); Parse the residing under construction position of fireman; Be specially: the elevation information according to every floor in the elevation information of fireman present position and the building, calculate to obtain the current place of fireman floor; Central control module 1 reads the plane structure chart of this floor of having drawn according to number of floor levels from outer memory module 3; Compare according to the latitude and longitude information of each position in the latitude and longitude information of fireman present position and this floor level structural drawing again, confirming the particular location of fireman at this floor, and with this location mark in plane structure chart; Last central control module 1 shows the fireman to the floor level structural drawing that has indicated the fireman position through input/output module 5, and it is navigated; In addition, the fireman can also lock a target location through input/output module 5 in the floor level structural drawing, and central control module 1 can be according to the distance of fireman position and target location; Control hummer 7 sends prompting sound with different frequencies; The distance of promptly representing fireman and target location distance through prompting sound sounding length at interval: the fireman is more near the target location, and then prompting sound is rapid more, and promptly the prompting sound sounding is short more at interval; Otherwise; The fireman is far away more from the target location, and then prompting sound relaxes more, and promptly the prompting sound sounding is long more at interval.
The Prima processor that microprocessor 1A in the central control module 1 can adopt SiRF to produce, this processor is the ARM11 series microprocessor, the ARM11 processor designs for the high-performance treatments ability effectively is provided; Integrated hardware 2D/3D accelerating engine has good graph and image processing ability, integrated touch-screen control module; Can reduce interference, provide more, integrated advanced Memory Controller Hub along sliding, reaction faster; Support multiple memory chip; Cost is controlled more easily, adopts 65 nanometer technologies of low-power consumption, can well save electric energy.
Three-dimensional localization module 2 has comprised an inertia earth-magnetic navigation module 2A and a GPS module 2B; Inertia earth-magnetic navigation module has comprised three betwixt mountains signal magnetic field sensors, three-axis gyroscope, 3-axis acceleration sensor, precise height meter; GPS only does reference location; In indoor main dependence inertia earth-magnetic navigation module location; Here adopt the integrated navigation technology of earth-magnetic navigation and inertial navigation can improve the overall performance of navigational system, can improve the long-term accuracy of simple inertial navigation system effectively.
Communication module 4 is used for carrying out wireless data transmission; Central control module 1 control communication module 4 is with the locating information of three-dimensional localization module 2; Be transferred in the floor manager system, make the floor manager personnel can understand each regional fire fighter's in the scene of a fire three-dimensional detail location information at any time.
Input/output module 5 has comprised display screen 5A and button 5B; Display screen 5A can be common LCDs; It also can be the touch-control display screen; If the touch-control display screen can let the fireman directly on display screen, carry out the selection locking of target location, also can select locking to the target location through button 5B; If common LCDs, then the fireman can only come locking is selected in the target location on the floor level structural drawing by means of button 5B.
Voice module 8 has comprised VODER, reports fireman's current location at a distance from 15 seconds to the fireman with every, and the information of the fire fighting device in 3 meters sweep radius, reports interval and sweep radius and can manually set.The fireman can select only to obtain the information of certain type of special fire fighting device, and voice module will only be play fireman's current location and this type of selected fire fighting device information after selecting so.For example, if the fireman has selected the information that receives only frother, then voice module is only reported the information of the frother in fireman's current location sweep radius scope.The fireman also can pass through button 5B, lets voice module report fireman's current location immediately, and the information of the fire fighting device in the sweep radius.
Internal power supply 9 mainly is that to be used for when device is in closed condition be the RAM storer power supply in the device, to prevent loss of data, can guarantee when more changing planes external power, not interrupt Continuous Observation like this.
Machine external power 10 is power sources of whole device, is used to the various device power supply in the whole device, guarantees its normal operation, and when the machine of use external power, will charge to internal power supply automatically, in case of need.
The on-the-spot guider embodiment two of fireman
As shown in Figure 2, the hardware structure diagram of the embodiment of the invention two has been described.Composition except three-dimensional localization module 2 among this figure is different from the embodiment one, and all the other each modules and embodiment one are identical.
Three-dimensional localization module 2 among the embodiment two has comprised a RFID module 2A and a GPS module 2B, and RFID is a RF identification, also is electronic tag.When carrying out three-dimensional localization, obtain current floor information, need to give in advance to be equipped with RFID floor identification equipment in the buildings.Can lead in the everywhere last layer or down the place of first floor layer RFID floor identification equipment is installed, in order to obtain current floor information more easily, can in corridor, building, important place also be installed by RFID floor identification equipment.Each one of label information is identical between the RFID equipment of each floor.The fireman obtains floor information through the RFID module 2A in the device, has stored the mapping table between floor information and the RFID floor identification equipment among the RFID module 2A.As RFID module 2A during near the floor identification equipment, can the contactless label information that reads in the current floor RFID floor identification equipment, the mapping table according between floor and the RFID floor identification equipment obtains current floor information.GPS module 2B then is used for the fireman is carried out plane positioning, obtains fireman's longitude and latitude positional information.
The on-the-spot guider embodiment three of fireman
As shown in Figure 3, the hardware structure diagram of the embodiment of the invention three has been described.Composition except three-dimensional localization module 2 among this figure is different from the embodiment one, and all the other each modules and embodiment one are identical.
Three-dimensional localization module 2 among the embodiment three has comprised a radio transmitting and receiving chip 2A, a power amplification circuit 2B.Radio transmitting and receiving chip 2A in the three-dimensional localization module 2 carries out three-dimensional localization (longitude, latitude and height) through cooperating the telltale on the on-the-spot fire fighting command car to the fireman, and power amplification circuit is used for signal is carried out power amplification.It is the monolithic wireless receiving and dispatching integrated chip CC1000 that low-power consumption, the design of low-voltage wireless product are produced that radio transmitting and receiving chip 2A can adopt Chipcon company, and this chip mainly uses 315,433,868 and 915MHz frequency in ISM (industry, science, the medical treatment) frequency range.But also can make on its other frequencies that are operated in 300-1000MHz through the mode of programming.Power amplification circuit 2B can adopt the RF2175 linear amplifier, and RF2175 is a kind of high power, high efficiency linear amplifier.The signal that three-dimensional localization module 2 produces sends out to the external world through antenna 6, also accepts the extraneous signal of sending through antenna 6 simultaneously.Three-dimensional localization module 2 is through radio transmitting and receiving chip 2A; Send a wireless signal via power amplification circuit 2B and the antenna 6 peripheral signal receiving device that is placed on diverse location that warms oneself in front of a fire, adopt TDOA (Time Difference of Arrival) location algorithm to confirm fireman's three dimensional local information.
Above-described instance has been done detailed explanation to the implementation of various piece of the present invention.But concrete way of realization of the present invention is not limited thereto; Those skilled in the art for technical field; Under the situation of spirit that does not deviate from the method for the invention and claim scope, the various conspicuous change that it is carried out is all within protection scope of the present invention.
Claims (9)
1. the on-the-spot guider of a fireman is characterized in that comprising:
A central control module; This module has comprised microprocessor, internal memory, is used for obtaining data from the fire department data center, is depicted as floor map; Simultaneously; The fireman's bearing data that obtains according to the three-dimensional localization module in floor map, and is presented at the station location marker of guider on the display screen of device with this floor map;
A three-dimensional localization module; It is connected in central control module; This three-dimensional localization module is used for the guider of scene of fire is carried out three-dimensional localization, and the three-dimensional localization module provides elevation information to central control module; So that central control module is according to the high computational floor, and then transfer corresponding floor level data according to floor;
An outer memory module, it is connected in central control module, and this module is used to store building structure bearing data, building fire protection facility bearing data, the guider orientation change histories data of obtaining from the fire department data center;
A communication module, it is connected in central control module and memory module, and this module is carried out data communication through wireless network fire department data center and/or floor manager car;
A protecting sheathing is used for the inner components and parts of protective device, with the normal use of assurance device in the scene of fire; And
An input/output module, this module comprises display screen and button, the two is connected in central control module; Be used for carrying out alternately with the fireman; Floor map is shown to the fireman, receives the target location of fireman's input, for the fireman provides navigation Service intuitively;
Also comprise a hummer, it is connected in central control module, is used to send prompting sound, representes the distance of fireman and target location distance through prompting sound sounding length at interval.
2. the on-the-spot guider of fireman as claimed in claim 1, it is characterized in that: also comprise a voice module, it is connected in central control module, is used for playing fireman's the real-time position information and the fire fighting device information of fireman's periphery.
3. the on-the-spot guider of fireman as claimed in claim 1; It is characterized in that: also comprise an internal power supply; It is connected in central control module; Being used for when device is in closed condition is the RAM storer power supply in the device, to prevent loss of data, can guarantee when more changing planes external power, not interrupt Continuous Observation like this.
4. the on-the-spot guider of fireman as claimed in claim 1 is characterized in that: a machine external power, be used to whole device power supply, and will charge to internal power supply automatically when using the machine external power.
5. the on-the-spot guider of fireman as claimed in claim 1; It is characterized in that: described three-dimensional localization module; Adopt an inertia earth-magnetic navigation module and a GPS module, inertia earth-magnetic navigation module has comprised three betwixt mountains signal magnetic field sensors, three-axis gyroscope, 3-axis acceleration sensor and precise height meter.
6. the on-the-spot guider of fireman as claimed in claim 1; It is characterized in that: described three-dimensional localization module; Adopt a RFID module and a GPS module, an electronic tag read module is arranged in the RFID module, and this electronic tag read module can read the electronic tag that is placed on the buildings respective storey; To transfer corresponding floor level data according to floor, the GPS module is used for confirming guider longitude and latitude in the plane.
7. the on-the-spot guider of fireman as claimed in claim 1 is characterized in that: described three-dimensional localization module, also can adopt a radio transmitting and receiving chip and a power amplification circuit; Radio transmitting and receiving chip carries out three-dimensional localization through wireless signal to the fireman, and power amplification circuit is used for signal is carried out power amplification.
8. the on-the-spot guider of fireman as claimed in claim 6 is characterized in that: described three-dimensional localization module depends on and disposes good RFID floor identification equipment in advance under construction.
9. the on-the-spot guider of fireman as claimed in claim 7; It is characterized in that: described three-dimensional localization module; Need to use a plurality of signal receiving devices that are positioned over diverse location of radio transmitting and receiving chip on the floor manager car to send wireless signal, receive the three-dimensional position of definite guider of mistiming of signal through each signal receiving device.
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| CN201110047495XA CN102155943B (en) | 2011-02-28 | 2011-02-28 | Fireman site navigation device |
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| CN201110047495XA CN102155943B (en) | 2011-02-28 | 2011-02-28 | Fireman site navigation device |
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| CN102155943A CN102155943A (en) | 2011-08-17 |
| CN102155943B true CN102155943B (en) | 2012-10-31 |
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| US20130116922A1 (en) * | 2011-11-08 | 2013-05-09 | Hon Hai Precision Industry Co., Ltd. | Emergency guiding system, server and portable device using augmented reality |
| CN103278154B (en) * | 2013-05-10 | 2016-03-30 | 杭州电子科技大学 | Fire disaster escaping navigational system |
| CN103267960A (en) * | 2013-05-28 | 2013-08-28 | 殷呈卫 | Firefighter individual positioning device and application thereof |
| CN103954284A (en) * | 2014-05-13 | 2014-07-30 | 北京信息科技大学 | Inertial measurement unit for fire fighting scene |
| CN104463407A (en) * | 2014-10-22 | 2015-03-25 | 陕西亿美万泰科技有限公司 | Firefighter positioning and tracking command system |
| CN104596511A (en) * | 2015-01-16 | 2015-05-06 | 浙江汉脑数码科技有限公司 | Positioning information source terminal device capable of being worn by firefighter |
| US9578455B2 (en) * | 2015-02-20 | 2017-02-21 | Ford Global Technologies, Llc | Method and apparatus for dynamic position reporting rate determination |
| CN105246032B (en) * | 2015-09-07 | 2020-08-21 | Oppo广东移动通信有限公司 | Indoor navigation method based on KTV and mobile terminal |
| CN105841692A (en) * | 2016-03-24 | 2016-08-10 | 上海良相智能化工程有限公司 | Fireman passive self-positioning system |
| CN105708025A (en) * | 2016-04-27 | 2016-06-29 | 哈尔滨中研普瑞电子工程技术中心有限公司 | Multifunctional fire fighting helmet |
| CN106327586B (en) * | 2016-08-31 | 2019-01-25 | 宁波之图网络科技有限公司 | Three-dimensional space fire-fighting command is deployed to ensure effective monitoring and control of illegal activities system |
| CN109106514A (en) * | 2018-09-05 | 2019-01-01 | 中国人民解放军第二军医大学 | Cold region first aid belongings and first-aid system with walking positioning |
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